检索结果-内蒙古大学图书馆

IEEE SENSORS

作者： Dirk Goeger Matthias Blankertz Heinz Woern Institute of Process Control Automation and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

This paper introduces a novel tactile sensor with the ability to detect objects in the sensor's near proximity. For both tasks, the same capacitive sensing principle is used. The tactile part of the sensor provides a tactile sensor array enabling the sensor to gather pressure profiles of the mechanical contact area. Several tactile sensors have been developed in the past. These sensors lack the capability of detecting objects in their near proximity before a mechanical contact occurs. Therefore, we developed a tactile proximity sensor, which is able to measure the current flowing out of or even into the sensor. Measuring these currents and the exciting voltage makes a calculation of the capacitance coupled to the sensor's surface and, using more sensors of this type, the change of capacitance between the sensors possible. The sensor's mechanical design, the analog/digital signal processing and the hardware efficient demodulator structure, implemented on a FPGA, will be discussed in detail.

关键词： Electrodes Tactile sensors Current measurement Capacitance Voltage measurement

来源：评论

学校读者我要写书评

暂无评论

Evaluating Risk Estimation Methods and Path Planning for Safe Human-Robot Cooperation

Evaluating Risk Estimation Methods and Path Planning for Saf...

引用

Joint international symposium on robotics

作者： J. Graf P. Czapiewski H. Woern Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany

ISBN: (纸本)9781617387197

Integration of machine intelligence into industrial robot cells is demanding and yet not properly solved especially, when it comes to safety aspects between man and machine. The state of the art solution is installing safety fences or vision systems which define static areas of allowed entrance or not allowed entrance. Markerless kinematic estimation for industrial robots is a novelty and state of the art in research. Having knowledge about the kinematic configuration of the human body offers a great possibility to define a function which takes the kinematic configurations of the robot and the human as arguments and find a mapping into a degree of believe with respect to the risk for the human. Depending on the risk estimation, the robot may raise or reduce its speed or if necessary re-plan its path. This paper will discuss how to achieve a two threaded fuzzy logic based system for reason of safety guaranteeing method and controlling path planning. Experimental have been carried out and will be discussed.

关键词： Fuzzy logic Robots Path planning Safety Humans Estimation Kinematics

来源：评论

学校读者我要写书评

暂无评论

A Real-Time Wearable Projector-Wiimote-System for Augmented Reality Interaction Scenarios on Plane Objects

A Real-Time Wearable Projector-Wiimote-System for Augmented ...

引用

Joint international symposium on robotics

作者： Alexander Steiger Bjoern Hein Heinz Woern Karlsruhe Institute of Technology (KIT) Institute for Process Control and Robotics (IPR) Karlsruhe Germany

ISBN: (纸本)9781617387197

This paper presents a wearable setup (see Figure 1) and a real-time, intuitive Augmented Reality (AR) interaction technique, designed as interface for a computer or a robot. The system presented consists of a miniaturized projector and up to 2 Wii Remotes (Wiimotes) mounted on a helmet. After a four-point touch calibration (see Figure 8) with an infrared-pen the user can interact on a flat plane e.g. a wall, table or whiteboard. A maximum of 4 IR-pens can be used at the same time to navigate, select and manipulate objects in the projected virtual space in either 2D or 3D. Under certain light conditions it is also possible to augment virtual informations onto arbitrary flat objects. In case of tracking an IR-pen, keystone distortion can be realised by additional semi-automated user calibration. When using a whiteboard (see Figure 2), the calibration is done automatically.

关键词： Calibration Robots Three dimensional displays Cameras Computers Libraries Switches

来源：评论

学校读者我要写书评

暂无评论

Visual Grasping Using Passive Joints and Clustered SIFT-Features

Visual Grasping Using Passive Joints and Clustered SIFT-Feat...

引用

Joint international symposium on robotics

作者： Nicolas Gorges Andre Haase Heinz Woern Institute for Process Control and Robotics Karlsruhe Institute of Technology Engler-Bunte-Ring 8 76131 Karlsruhe Germany

ISBN: (纸本)9781617387197

This work addresses the problem of visual-based grasping of unknown objects with a five-finger robot hand. The contribution of this work consists of two parts. Firstly, the sensor system of the robot finger tips has been enhanced to increase its sensitivity for reactive grasping of unknown objects. Therefore, two additional passive degrees of freedom are introduced to the finger tips to make them adjust themselves to the object surface. Secondly, a robust approach to visual determination of unknown objects is introduced. The visual part starts with the extraction of interest points which are typical for an object. A cluster of these object features indicate an object candidate. The proportions of this accumulation of 3-dim. points and the distribution of the feature categories within this cluster indicates an object to be grasped. The proposed approach has been tested with the novel tactile sensor system.

关键词： Visualization Feature extraction Tactile sensors Grasping Robot kinematics

来源：评论

学校读者我要写书评

暂无评论

Active fault tolerant control of an electro-hydraulic servo axis with a duplex-valve-system

引用

IFAC Proceedings Volumes 2010年第18期43卷 660-668页

作者： Beck Mark Schwung Andreas Muenchhof Marco Isermann Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-162314) TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany (Tel: +49-6151-166283) TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-163114) TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-162114)

In this paper fault detection, fault diagnosis and active fault tolerant control of an electro-hydraulic servo-axis with a duplex-valve-system are described. The fault detection is based on parity equations. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used on the testbed is based on fuzzy-logic. In order to tolerate a failed hydraulic proportional valve, a duplex-valve-system built up with standard direct-driven proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axis and decides on reconfiguration and fault accomodation of the control-loop. The Internal Model control (IMC)-tracking control structure used for reconfiguration allows bumpless transfer between controllers. Experimental results show the industrial applicability of the approach.

关键词： Fault Detection Fault Diagnosis Fault Tolerance Fault Accomodation Electro-hydraulic Servo Axis Duplex-valve-system Active Fault Tolerant control Reconfiguration Bumpless-Transfer

来源：评论

学校读者我要写书评

暂无评论

A cognitive path-guidance-system for minimally invasive surgery

A cognitive path-guidance-system for minimally invasive surg...

引用

International Symposium on Intelligent Systems and Informatics (SISY)

作者： O. Weede D. Stein N. Gorges B. Müller H. Wörn Karlsruhe Institute of Technology (KIT) Institute for Process Control and Robotics Karlsruhe Germany Department of Surgery Heidelberg University Hospital Heidelberg Germany

The presented path-guidance system is able to learn movements and to predict motion. It shall enhance safe navigation for surgeons in minimally invasive surgery by creating a virtual fixture which holds the end-effector's motion to a desired path and warning the surgeon in a dangerous situation. Surgeons can demonstrate interventions and best practices. The system collects information from surgeon demonstrated trajectories, defined as best practices, and extracts knowledge to provide guidance for other users to carry out the same intervention. Knowledge extraction is achieved through trajectory clustering, maximum likelihood classification and a Markov model to predict states. The fundamental task is to guide a surgeon along a desired trajectory (navigated path) and prevent them entering into zones of risk. The path is not sequential, furcations are permitted and modeled showing alternatives in the ongoing intervention. An evaluation with a pelvitrainer showed good results with over 89% hit rate in predicting the motion.

关键词： Trajectory Instruments Markov processes Visualization Navigation Minimally invasive surgery

来源：评论

学校读者我要写书评

暂无评论

An automatic and complete self-calibration method for robotic guided laser ablation

An automatic and complete self-calibration method for roboti...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： H. Mönnich Daniel Stein J. Raczkowsky H. Wörn IPR - Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany IPR Karlsruhe University of Karlsruhe Karlsruhe Germany

This paper describes the content of the video for ICRA 2010. The approach presented in the video is a complete automatic registration of all needed devices for robotic guided CO2 bone processing. The system consists of an optical tracking system, a lightweight robot and a scan head. While a standard point to point transformation for the transformation between optical tracking system and robot is inadequate, a special registration algorithm was developed and therefore is used. This allows an automatic registration by moving the robot to different positions and storing the position of a body attached to the robot TCP. The scan head is registered to the optical tracking system or to the robot using a camera that tracks the prototype laser. Only the patient must be registered manually. The result is that the robot moves to the target position on the bone defined inside the segmented 3D CT dataset. With the known registration between robot and tracking system the robot can also be controlled via visual servoing.

关键词： robotics and automation Laser ablation Target tracking Bones Standards development Robot vision systems Cameras Prototypes control systems Visual servoing

来源：评论

学校读者我要写书评

暂无评论

Skill-based telemanipulation by means of intelligent robots

Skill-based telemanipulation by means of intelligent robots

引用

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Simon Notheis Giulio Milighetti Björn Hein Heinz Wörn Jürgen Beyerer Institute of Process Control and Robotics (IPR) Karlsruhe Institute of Technology Karlsruhe Germany System Technologies and Image Exploitation (IOSB) Fraunhofer Institute of Optronics Karlsruhe Germany

In order to enable robots to execute highly dynamic tasks in dangerous or remote environments, a semiautomatic teleoperation concept has been developed and will be presented in this paper. It relies on a modular software architecture, which allows intuitive control over the robot and compensates latency-based risks by using Augmented Reality techniques together with path prediction and collision avoidance to provide the remote user with visual feedback about the tasks and skills that will be executed. Based on this architecture different skills with high dynamics are integrated in the robot control, so that they can be executed autonomously without the delayed feedback of the user. The skill-based grasping by adherence of smooth or fragile objects during a remote controlled picking and placing task will be exemplary presented.

关键词： Cameras Robot vision systems Grasping Grippers Collision avoidance

来源：评论

学校读者我要写书评

暂无评论

Energy-Efficient Static Priority and Speed Assignment for Real-Time Tasks with Non-deterministic Release Times

Energy-Efficient Static Priority and Speed Assignment for Re...

引用

IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

作者： Simon Perathoner Lothar Thiele Jian-Jia Chen Computer Engineering and Networks Laboratory (TIK) Swiss Federal Institute of Technology Zurich Switzerland Institute of Process Control and Robotics (IPR) Karlsruhe Institute of Technology Karlsruhe Germany

Dynamic Voltage Scaling (DVS) has been widely used for decreasing the dynamic power dissipation of processors. For real-time systems, DVS techniques have been developed that permit to meet the timing constraints of multiple real-time tasks and at the same time reduce the overall dynamic energy consumption. Known methods for static priority DVS scheduling are, however, either restricted to simple periodic/sporadic task release patterns or presume full a priori knowledge of task release times. Moreover, none of the present approaches considers the optimization of task priorities for reducing the energy consumption. In this paper we explore how to determine the static priorities and individual execution speeds (supply voltages) of multiple tasks with non-deterministic release times bounded by arrival curves such that the energy consumption is reduced and the real-time constraints are met. The result are different heuristics for the design of DVS-based real-time systems with static priorities. We show that the proposed methodology leads to energy-efficient system designs and demonstrate the applicability of the approach by means of experiments.

关键词： Voltage control Energy consumption Real time systems processor scheduling Program processors Jitter Algorithm design and analysis

来源：评论

学校读者我要写书评

暂无评论

Combining optimistic and pessimistic DVS scheduling: An adaptive scheme and analysis 10

Combining optimistic and pessimistic DVS scheduling: An adap...

引用

IEEE International Conference on Computer-Aided Design

作者： Simon Perathoner Kai Lampka Nikolay Stoimenov Lothar Thiele Jian-Jia Chen Computer Engineering and Networks Laboratory (TIK) Swiss Federal Institute of Technology Zurich Switzerland Institute of Process Control and Robotics (IPR) Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781424481927

Performance boosting of modern computing systems is constrained by the chip/circuit power dissipation. Dynamic voltage scaling (DVS) has been applied for reducing the energy consumption by dynamically changing the supply voltage. One can optimistically apply greedy online DVS scheduling algorithms by considering only the events that have arrived in the system. However, this might require a speed that is beyond a system's capability. Alternatively, one can pessimistically use a conservative speed to ensure timing guarantees, which might consume an excessive amount of energy as events might be processed faster than necessary. This paper presents an adaptive scheme that combines these two strategies for the scheduling of arbitrary event streams. The proposed adaptive DVS scheduler chooses the execution speed dynamically as long as it is below a certain threshold. Once the speed exceeds this threshold, the proposed scheduler operates at a constant (pessimistic) speed for guaranteeing the feasibility. The computation of the threshold speed is, however, not straight-forward. For deriving it, we make use of a framework based on timed model checking because the scheduler is strongly state-dependent. The resulting analysis framework allows to obtain the threshold speed for the proposed adaptive DVS scheduling algorithm such that both timing and speed constraints are guaranteed to be met and at the same time an energy-efficient execution is ensured.

关键词： Voltage control Optimized production technology Energy consumption Timing Adaptation model Scheduling algorithm Adaptive scheduling

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：